Unmanned Aerial Vehicle and Method of Operation

ABSTRACT

A method of unmanned aerial vehicle (UAV) flight includes providing horizontal thrust in-line with the direction of forward flight of the UAV using at least one electric motor, providing primary vertical lift for the UAV during the forward flight using a fixed and non-rotating wing, repositioning the at least one electric motor to provide vertical thrust during transition of the UAV to vertical flight for descent, landing the UAV on a surface using a vertical approach after the motor repositioning, and deploying an anchor to secure the UAV to a surface.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. Non-Provisional patentapplication Ser. No. 13/656,587, filed Oct. 19, 2012, which is acontinuation of International Application No. PCT/US2011/33680 filedApr. 22, 2011, which claims priority to and benefit of U.S. ProvisionalPatent Application No. 61/327,089 filed Apr. 22, 2010, all of which arehereby incorporated by reference for all purposes.

TECHNICAL FIELD

The technical field relates to aerial vehicles, and more particularly topowered aerial vehicles that have vertical take-off and landingcapabilities.

BACKGROUND ART

Unmanned aerial vehicles (UAVs) may be used to provide remoteobservation of a location of interest, such as monitoring forest fires,penetrating and analyzing volcanic plumes, monitoring of pipeline andother utility assets, finding those who are lost and in distress ormonitoring other remote observation locations not immediately availableto observers on the ground.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the invention are illustrated by way of example and notlimitation in the figures of the accompanying drawings, and in which:

FIG. 1A depicts one embodiment of a flight-path of a UAV system fortraveling from an operating base to an observation area, and includes ablock diagram that illustrates preferred components of the UAV system;

FIG. 1B depicts one embodiment of a flight-path of the UAV system forvertical ascent from an observation area and with a transition tohorizontal flight;

FIG. 1C depicts one embodiment of a UAV system having a powerdistributor to control power distribution from a battery to propulsionmotors, observation sensor and transmitter;

FIGS. 2A and 2B depict the UAV system of FIGS. 1A-1C having, in oneembodiment, an adhesive anchor operable to secure the UAV system to alanding surface;

FIG. 2C depicts the UAV system and adhesive anchor of FIGS. 2A and 2Band illustrating one embodiment for detachment of the UAV system fromthe landing surface;

FIG. 2D depicts the UAV system and adhesive anchor of FIGS. 2A and 2B,further illustrating another embodiment for detachment of the UAV systemfrom the landing surface;

FIG. 3 illustrates an assembly embodiment of an adhesive anchor;

FIGS. 4A, 4B, and 4C illustrate another assembly embodiment of anadhesive anchor;

FIGS. 5A and 5B illustrate another assembly embodiment of an adhesiveanchor;

FIGS. 6-8 illustrate another assembly embodiment of an adhesive anchor;

FIGS. 9A and 9B depict a flow diagram illustrating one embodiment of amethod for deploying a UAV system to an observation area and generatingand transmitting observation data;

FIG. 10 is a flowchart illustrating an embodiment for deploying a UAVaway from the observation area;

FIGS. 11A and 11B depict a flowchart illustrating an embodiment of a UAVsystem method for ascending using an electric motor, repositioning themotor to transition to horizontal flight and vertical descent, andgenerating observation data for transmission to an external receiver;

FIG. 12 is a top level functional block diagram a processing device thatmay be used to selectively control rotation of the propulsion motors;

FIG. 13 is a top level functional block diagram of one embodiment of acontrol system to selectively control rotation of the propulsion motors;and

FIGS. 14A and 14B are perspective views of one embodiment of a UAV thathas two selectively rotatable propulsion motors, one on each side of theUAV, and one fixed motor on a tail boom.

SUMMARY

Exemplary embodiments of an unmanned aerial vehicle (UAV) system aredisclosed that enable transition of the UAV from an operating base to aremote observation site for either aerial monitoring or monitoring froma surface not immediately available to monitoring personnel. The UAV maythen transition back to the operating base for recovery. In oneembodiment of a method of operation for such an UAV system, the methodincludes providing horizontal thrust in-line with the direction offorward flight of the UAV using at least one electric motor, providingprimary vertical lift for the UAV during the forward flight (i.e.,horizontal flight) using a fixed and non-rotating wing, repositioningthe at least one electric motor to provide vertical thrust to transitionthe UAV to vertical flight for descent, landing the UAV on a surfaceusing a vertical approach after repositioning the at least one electricmotor, and then deploying an anchor to secure the UAV to a landingsurface.

An exemplary embodiment of a method for unmanned aerial vehicle flightincludes providing horizontal thrust in-line with the direction offorward flight of the UAV using at least one electric motor; providingprimary vertical lift for the UAV during the forward flight using afixed and non-rotating wing; repositioning the at least one electricmotor to provide vertical thrust during transition of the UAV tovertical flight for descent; landing the UAV on a surface using avertical approach after the repositioning; deploying an anchor to securethe UAV to a surface; providing vertical thrust in-line with thedirection of vertical flight of the UAV using the at least one electricmotor for UAV ascent; and repositioning the at least one electric motorto provide horizontal thrust during transition of the UAV from ascent tohorizontal flight. The anchor may be an adhesive anchor and so themethod may include separating the adhesive anchor from the UAV to deploythe UAV from the surface; providing vertical thrust in-line with thedirection of vertical flight of the UAV using the at least one electricmotor for UAV ascent after separating; and repositioning the at leastone electric motor to transition the UAV from ascent to horizontalflight after separating. The method may also comprise generatingobservation data while the UAV is landed; and periodically transmittingthe observation data to a receiver external to the UAV while the UAV islanded. The method may also comprise reducing power to one of anobservation sensor, the transmitter, and the at least one electric motorthrough a power distributor to reduce the UAV's overall power usageafter the UAV has landed. The observation sensor may be an opticalcamera, an infrared camera, a microphone, a vibration sensor, a heatsensor, and/or a radiation sensor. The method may also compriserestoring power to all systems on the UAV necessary to deploy the UAVfrom the surface; separating the anchor from the UAV to deploy the UAVfrom the surface; providing vertical thrust in-line with the directionof vertical flight of the UAV using the at least one electric motor forUAV ascent; repositioning the at least one electric motor to transitionthe UAV to horizontal flight and reducing power to one of an observationsensor and said transmitter through said power distributor to reduce theUAV's overall power usage during UAV horizontal flight.

Exemplary embodiments of an unmanned aerial vehicle apparatus maycomprise a fixed and non-rotating wing to provide primary lift for theUAV while in horizontal flight; at least one electric motor coupled tothe wing to rotatably, e.g., via a propeller, and selectively directthrust in horizontal and vertical directions, the at least one electricmotor, e.g., via a propeller, providing primary lift for the UAV duringvertical flight; means for securing the UAV to a surface, e.g., via adetachable adhesive deploying element; means for generating observationdata, e.g., via one or more passive sensors; and means for transmittingthe observation data, e.g., via an RF transmitter. For example, themeans for generating observation data may be capable of periodicallygenerating the observation data, and the means for generatingobservation data may comprise a camera. The means for securing the UAVto the surface may be an adhesive anchor to secure the UAV to a surface,and the anchor may be separable from the UAV. In one embodiment, theanchor comprises a liquid adhesive reservoir and a liquid adhesiveinfusible brush. Also, the at least one electric motor may be coupled tothe wing to rotatably and selectively direct thrust in the horizontaldirection in-line with the direction of forward flight. Also, the atleast one electric motor may be coupled to the wing to rotatably andselectively direct thrust in the horizontal direction in-line with achord line of the wing.

DETAILED DESCRIPTION

FIGS. 1A-1C illustrate an exemplary embodiment of a UAV system that iscapable of directing thrust to transition the UAV from an operating baseto an observation location to observe an area, preferably using ananchor to fix the UAV to a surface for extended viewing, and thendirecting thrust to transition the UAV back to the operating base. Moreparticularly, FIG. 1A is a flight-path diagram 100 of the UAV systemthat incorporates a block diagram illustrating preferred components ofthe UAV system. The UAV 110 has a fixed and preferably non-rotating wing125 that is oriented to provide lift for the UAV 110 when the UAV is inforward flight but does not provide any substantial lift when the UAV110 is in vertical flight. For example, the non-rotating wing 125experiences primarily laminar flow over its lifting surfaces in forwardflight, but does not experience laminar flow when the UAV 110 is invertical flight. Propulsion motors, preferably electrically-poweredpropulsion motors 120 are located on both sides of the UAV 110 (figuresonly showing a motor on one side of the UAV 110) with the propulsionmotors 120 selectively positionable relative to the wing 125 to changethe direction of the thrust they generate, e.g., via propellers, fromthat for forward flight to that for vertical flight, as shown forpropulsion motor 120′. As used herein, the term “motor” is intended toinclude components used to convert any form of energy into thrust forthe UAV. In a preferred embodiment, the propulsion motors are electricmotors and each includes a motor shaft and propeller. Or, the electricmotor may be an assembly including a motor, motor shaft, and ducted fan;a motor, motor shaft, and tiltable propeller; or other apparatus whereinthe motor may or may not be fixed relative to the wing, but at leastportions of the motor are repositionable relative to the wing toselectively provide horizontal and vertical thrust for the UAV 110. Inalternative embodiments, the two propulsion motors 120 may be replacedby a single propulsion motor or by a plurality of propulsion motors.Other embodiments of a propulsion motor may include a ducted fan (i.e.,electric or liquid-fueled), a rocket (i.e., solid fuel or liquid), gasturbine, and a rotor motor.

The UAV 110 has an observation sensor 130 for generating observationdata, with the observation sensor 130 in communication with atransmitter 190 for transmitting the observation data. A battery 170, oran array of batteries, preferably powers the propulsion motors, theobservation sensor and the transmitter. A power distributor 180 controlsthe power distribution from the battery 170 to the propulsion motors120, the observation sensor 130 and the transmitter 190. The observationsensor 130 is preferably an optical camera, but may be any of a varietyof devices, including but not limited to an infrared camera, amicrophone, a vibration sensor, a heat sensor, a radiation sensor, orthe like. Embodiments of an observation sensor are shown and describedin U.S. Provisional Patent Application No. 61/264,601 filed Nov. 25,2009, entitled “Articulated Sensor Support Structure”; and InternationalApplication No. PCT/US10/58037 filed Nov. 24, 2010 entitled “ArticulatedSensor Support Structure” and each are incorporated by reference intheir entirety herein. Such an observation sensor may be articulated tosupport remote operator and/or autonomous landing of the UAV as shownand described in the aforementioned applications.

During operation, the UAV 110 takes off from an operating base and iscapable of transitioning between vertical flight (i.e., ascent) andforward flight (i.e., horizontal). Path A of FIG. 1A illustrates thepreferred vertical flight path of the UAV 110 up to a desired cruisealtitude. Path B illustrates the UAV's 110 transition to forward flight,preferably in response to repositioning of propulsion motor 120 from theposition shown by 120′ to that shown by 120. While in forward flightshown by path C, the UAV 110 generates substantially all of its liftfrom the fixed or non-rotating wing 125 (deemed to include lift from thefuselage body in the case of a lifting-body fuselage) and the propulsionmotors 120 are positioned to provide thrust at least generally in-linewith the direction of forward flight. If such a path represents “slowflight”, then the propulsion motors 120 may remain in a position that isin-line with a cord line (not shown) of the fixed wing 125 or may rotateto remain positioned to provide thrust at least generally in-line withthe direction of forward flight. As the UAV 110 approaches theobservation area, it is depicted as transitioning from forward flightback to vertical flight (i.e., descent) as shown by path D, either inresponse to the propulsion motors repositioning to position 120′ or assupported by such repositioning. While in vertical flight (i.e.,descent), the UAV 110 generates substantially all of its lift from thepropulsion motors 120′ positioned to do so, and not the wing 125. Asshown by path E the UAV 110 then lands on the desired observationlocation, either through the use of an operator, an autonomous landingsystem, or some combination of both, to allow the sensor 130 to viewpotential targets in an area 140.

While at the observation location, the UAV 110 may in certainembodiments deploy an anchor, that may be an adhesive anchor 150 inorder to secure itself to a landing surface (where “landing surface” mayalso mean an adjacent structure). The adhesive anchor 150 functions tokeep the UAV 110 in position and prevent it from being moved ordisplaced due to actions such as winds and/or movement of the structureto which the UAV 110 may be attached. Other embodiments of an anchor 110are further described in U.S. Provisional Patent Application No.61/264,220 filed Nov. 24, 2009, entitled “Aircraft Grounding System”;and International Application Number PCT/US10/57984 filed Nov. 24, 2010,entitled “Aircraft Grounding System” and each are incorporated byreference into this disclosure.

FIG. 1B is a flight path diagram 160 of the UAV system that illustratesthe return of the UAV to the operation base upon completion of itsmission at the observation location. If the UAV 110 has used theadhesive anchor 150, then prior to departing the observation locationthe UAV 110 will separate from the adhesive anchor 150. The UAV 110 willthen take off vertically, preferably along path F, with the propulsionmotor providing vertical thrust in-line with the direction of verticalflight of the UAV 110 for UAV ascent. The transitional flight path isillustrated by path G, with the horizontal cruise path illustrated byflight path H. The transition from the vertical flight path F tohorizontal cruise path H may be executed either in response to thepropulsion motors repositioning to position 120 or as supported by suchrepositioning after separating from the anchor. Path I shows thetransition flight path back to vertical flight path J (i.e., descent) toa landing that may be made in response to repositioning the propulsionmotors from horizontal thrust to vertical thrust, or as supported bysuch repositioning.

FIG. 1C is a functional block diagram and top-level schematicillustrating one embodiment of a UAV system having components to reduceoverall power requirements of the UAV during flight and/or while landedat the observation location. A power distributor 180 is configured toreduce or turn off power being provided to either the observation sensor130 and the transmitter 190 and/or the propulsion motors 120′ (iflanded). Reducing power usage, turning off systems and/or limiting thetime that a system or device is on (e.g., powered for flight) allows theUAV 110 to stay at the observation location over a longer period of timefor a finite battery charge capacity. That is, the UAV 110, whilelanded, periodically and/or intermittently may use the power distributorto turn on or increase power to the observation sensor 130 and/or thetransmitter 190 to generate observation data and/or to transmit theobservation data via the transmitter to the operating base and/or to anyother external receiver over a period of time. This allows the operatorof the UAV 110 to observe an area over a period of time that may beshortened if the vehicle was also powered for flight and/or did notexport the wing lift during horizontal flight.

FIG. 2A is a block diagram of an exemplary UAV anchor first illustratedin FIG. 1A that uses, in one embodiment, an adhesive material deliveredto a filament array that is deployed from the UAV and positioned on aUAV landing surface to secure the UAV to the landing surface with theadhesive. The UAV 210 is depicted as attached to a liquid adhesivereservoir 240 by an attachment_1 220. A channel or conduit 230 may beprovided between the liquid adhesive reservoir 240 and a brush assembly250 such as, for example, a filament array, bristle array, or an arrayof bundles, strips of fabric, cotton balls, or clumps of cloth. Theliquid adhesive reservoir 240 may be attached by attachment_2 260 to thefilament array 250. Before or after the filament array 250 contacts thelanding surface 270, the liquid adhesive may flow from the liquidadhesive reservoir 240 to the filament array 250 via the conduit 230 asshown in FIG. 2B. The filament elements of the filament array 250 havingliquid adhesive provide the landing surface 270 with bonding areas. Onceelements of the filament array 250 have bonded to the landing surface270, the UAV may be adhesively anchored to the landing surface 270. Tofree itself from the anchor provided by the bonded elements of thefilament array 250, the UAV may be detached via release of attachment_1220 as shown in FIG. 2C or release of attachment_2 260 as shown in FIG.2D, or combinations thereof.

FIG. 3 shows an assembly comprising a cylinder 310 for containing aliquid adhesive reservoir where the assembly further comprises anattachment joint 320 at a proximal end of the cylinder and an array offilaments 330, bristles, or fabric strips, at the distal end of thecylinder. A channel or conduit may be provided within the cylinder 310between the liquid adhesive reservoir and the filament array 330 forconducting the flow of the liquid adhesive to the filament array, wherethe filament array may be in contact with a surface for anchoring. FIG.3 also shows the assembly may be stowed, prior to deployment, in adispensing case 340.

FIG. 4A shows in cross-section the cylinder 410 having a plunger 411with a shaft 412 piercing a stopper 413. FIG. 4B shows the liquidadhesive 420 may be expressed from the cylinder 410 as the plunger 411moves toward the opening 414. FIG. 4C shows the brush 430 of the distalportion 415 of the cylinder 410 may disperse its fibers or filaments insuch a fashion as to provide contact with uneven surfaces 440. FIG. 5Ashows in cross-section the cylinder 510 having a pointed spring-loadedshaft 511 held in place by a pin 512. FIG. 5B shows that with the pinremoved, the pointed spear 511 may pierce a seal 513 of the liquidadhesive reservoir, allowing the liquid glue to flow to the bundle ofbristles or filaments 430.

FIG. 6 shows, in another embodiment, a side view of the spring wire 581in contact with the collar 580, where the collar is disposed about thebrush filament conduit 551. Another portion of the spring 683 isdisposed on a mounting sleeve or mounting case 690 as seen in FIG. 6.The spring wire 581 is compressed and held in place by a pin 682. FIG. 7shows in a side view the spring wire 581 is in a restored, i.e.,uncompressed, position and the brush filament conduit 551 is deflectedthereby reorienting the brush filament bundle 550. FIG. 8 illustrates ina cross-sectional view the deflection of the brush filament conduit 551which places pressure in the distal end portion of the flexible linealconduit 821, a pressure that works to drive the piercing aperture 822into the liquid adhesive reservoir 810 via a pierced seal 811.Accordingly, the assembly 800 is shown in a deployed state having abrush filament bundle 550 receiving liquid from the reservoir 810 andpositioned for application to an exemplary surface 801.

FIGS. 9A and 9B depict a flowchart illustrating an exemplary embodimentof a method for deploying an unmanned aerial vehicle (UAV) having anobservation sensor for generating observation data, and a transmitterfor transmitting the observation data, wherein the UAV is capable offorward and vertical flight. In this embodiment, the UAV generatessubstantially all of its lift from its non-rotating wing during forwardflight (block 600) to an area of observation (block 602) and thentransitions from substantially forward flight to substantially verticalflight (block 604. During vertical flight (in this case, descent), theUAV maintains substantially all of its lift from a means of generatingsubstantially vertical thrust as disclosed herein, preferably from aplurality of electric motors (block 607). The UAV lands in asubstantially vertically manner at an observation location (block 606)and generates observation data with the observation sensor while the UAVis landed at the observation location (block 608. In an alternativeembodiment, the observation sensor is capable of periodically generatingthe observation data (block 610), rather than continuously generatingthe observation data, in order to conserve system power. The UAV maytransmit the observation data via the transmitter while the UAV islanded, e.g., adhered to the observation location (block 612). Exemplaryembodiments, may have the transmitter capable of periodicallytransmitting the observation data to a receiver external to the UAV(block 614), rather than continuously transmitting, and thediscontinuous transmissions may conserve system power. In some exemplaryembodiments, the UAV may be capable of turning off all systems on theUAV except those necessary to generate and transmit observation data(block 616). Or, the UAV may be capable of selectively turning off eventhose systems necessary to transmit the observation data (block 618)while retaining autonomous power-up capability, e.g., via a timer and/orlight sensor.

FIG. 10 is a flowchart illustrating an exemplary method embodiment ofdeploying a UAV away from the area of observation. Power is restored toall systems on the UAV necessary to deploy the UAV from the observationlocation (block 700), and the UAV is deployed in a substantiallyvertical manner up from the observation location (block 702). As indescent, the UAV maintains substantially all of its lift from a means ofgenerating substantially vertical thrust (block 704), preferably from aplurality of electric motors. The UAV transitions from substantiallyvertical flight to substantially horizontal flight (block 706) from thearea of observation.

FIGS. 11A and 11B depict in a flowchart illustrating an exemplaryembodiment of taking off in substantially vertical flight from anoperating base an unmanned aerial vehicle (UAV) having a non-rotatingwing, using propulsion motors positionable to change the direction ofthe thrust they generate wherein the UAV is capable of transitioningbetween forward and vertical flight. While in forward flight the UAVgenerates substantially all of its lift from the non-rotating wing andthe propulsion motors are positioned to provide thrust at leastgenerally in-line with the direction of forward flight, and while invertical flight the UAV generates substantially all of its lift by thepropulsion motors positioned to do so. Thereafter, the UAV cruises insubstantially forward flight to an area of observation and thentransitions from substantially forward flight to substantially verticalflight in order to land in a substantially vertical flight path at anobservation location in the area of observation.

More particularly, vertical thrust is provided using at least oneelectric motor (preferably two) for UAV ascent (block 1100). Theelectric motors are repositioned to provide horizontal thrust totransition the UAV from vertical to horizontal flight (block 1102). Inan alternative embodiment, the electric motors (or at least one of themotors) do not transition the UAV to horizontal flight, but rather arerepositioned merely to assist the transition to horizontal flight (block1104). Horizontal thrust is then provided in-line with the direction offorward flight using the electric motors (block 1106). Or, if the UAV isin slow-flight conditions (block 1108), and so the fixed andnon-rotatable wing is experiencing high angles of attack, the horizontalthrust may be provided in-line with a chord line of the wing to providehorizontal thrust (block 1110). During forward flight, primary verticallift is provided using the fixed and non-rotating wing (block 1112). Or,if the UAV is provided with a lifting-body fuselage, primary verticallift may be provided by the lifting-body itself, or with somecombination of the wing and lifting body, rather than by the electricmotors (block 1114). After the pre-determined horizontal flight path hasbeen accomplished, the electric motors are repositioned to providevertical thrust during descent (block 1116) and the UAV is landed usinga vertical approach after the motor repositioning (block 1118.

An anchor may be deployed to secure the UAV to a landing surface (block1120) and a power distributor preferably reduces power provided by thebattery on board the UAV to at least one of the observation sensor, thetransmitter and the electric motors to reduce the overall power usage ofthe UAV after the UAV has landed (block 1124). In an exemplaryembodiment, if the power distributor is directed (or directs) that poweris to be periodically switched on to the observation sensor (block1126), the observation sensor will periodically generate observationdata and communicate it to the transmitter (block 1128) for periodictransmission to a receiver external to the UAV (block 1130). Otherwise,the observation data may be generated continuously (block 1126) andcommunicated to either a transmitter or memory storage device fortransmission to an external receiver (block 828). In an alternativeembodiment, observation data is generated continuously (block 832) andprovided to the transmitter for transmission to the external receiver(block 1130).

FIG. 12 is a top level functional block diagram of an embodiment where aprocessing device or processor 1210 may include one or more centralprocessing units (CPUs) and addressable memory to selectively controlrotation of the propulsion motors. The processor 1210 may includefunctional modules of executable instructions and/or firmware modules toaffect such rotation. The processor 1210 may also be configured toexecute instructions to perform flight control, and/or sensorprocessing/filtering. The processor 1210 may be included in the powerdistributor 180, as shown in FIG. 1C, or as part of a separate module incommunication with the power distributor 180. A flight controlprocessing module 1212 for an air vehicle may receive sensed vehicledynamics, sensed and/or estimated vehicle positions and/or velocities,and heading and/or attitude commands through the sensor processingmodule 1213. The flight control processing module 1212 may outputcommands to the propulsion motors 1250, e.g., propeller motors, andactuators, e.g., control surface actuators. The sensor processing module1213 may also receive output from vehicle dynamic sensors such asaccelerometers and/or gyroscopes referenced by flight control sensors1230. The sensor processing module 1213 may filter or otherwisecondition the input from the flight control sensors 1230 beforeproviding the filtered and/or processed information to the flightcontrol processing module 1212. Embodiments of the processor 1210 mayinclude navigation processing that may be executed by sensor processingmodule 1213, flight control processing module 1212, or distributedbetween the two processing modules of the processor 1210.

Depending on the function of the processor 1210, other modules,including functions and capabilities, may be added or removed.Furthermore, the modules 1212, 1213 in the exemplary processor 1210described herein may be further subdivided and combined with otherfunctions to accomplish the functions and processes described herein.The various modules may also be implemented in hardware, or acombination of hardware and software, i.e., firmware. For an air vehicleembodiment, the external components may include a lifting surfaceextension, a tail boom, a motor, a battery module, observation sensor,power distributor, and a payload module.

FIG. 13 is a top level functional block diagram of an embodiment for anair vehicle where the system includes a CPU 1310; flight controlcomponents 1320 including a Global Positioning System (GPS) sensor andprocessing 1321; an atmospheric pressure sensor 1322; a power supplyincluding a battery 132; and a telemetry 1323 that may include an uplinkreceiver and processor that may separately, or in combination,selectively control rotation of the propulsion motors. The flightcontrol components 1320 may also include an inertial measurement unitand/or accelerometers and/or gyroscopic sensors (not shown). The systemmay further include an observation sensor such as camera 1325. Thesystem may further include a forward port/left motor drive 1331 toselectively rotate a propulsion motor relative to a wing, a forwardstarboard/right motor drive 1332 to selectively rotate a secondpropulsion motor relative to a second wing, a forward port/left motorposition module 1334 to control the forward port/left motor drive 1331,a forward starboard/right motor position module 1335 to control theforward starboard/right motor drive 1332. The system may alternativelyinclude a single motor drive, and corresponding motor tilt. Thecommunication channels may be wired and/or wireless, e.g., radiofrequency and/or infrared. The wired communication channels may includemetal wire channels having protocols including IEEE 1553, Ethernet, andthe universal serial bus (USB), and fiber optic channels.

FIGS. 14A and 15B are a perspective views illustrating one embodiment ofa UAV having two selectively rotatable motors to enable vertical ascent,horizontal cruise and vertical descent. A left propulsion motor 1402 iscoupled to a left wing 1404 through a left motor boom 1406. The leftmotor 1402 is selectively rotatable about a left motor pivot point 1408to enable both forward flight (as shown), and vertical flight throughrotation of the left propulsion motor 1402 to a vertical position aboutthe left motor pivot point 1408. The pivoting may be accomplished by theforward port/left motor drive 1331 that is coupled to the left motor1402, with the forward port/left motor drive 1331 positioned either inthe left motor boom 1406 or in the left propulsion motor 1402, itself.In one embodiment, an aft fixed propulsion motor 1410 is powered andprovides vertical thrust during vertical ascent and vertical landing andis turned off for forward flight. Other embodiments of an aft fixedpropulsion motor and suitable functional block diagrams for control areshown and described in are shown and described in U.S. provisionalpatent Application No. 61/264,587 filed Nov. 25, 2009, entitled“Automatic Configuration Control of a Device”; and InternationalApplication No. PCT/US2010/058020 filed Nov. 24, 2010, entitled“Automatic Configuration Control of a Device” and each is incorporatedby reference in their entirety herein.

Similarly, a right propulsion motor 1412 is coupled to a right wing 1414through a right motor boom 1416. The left motor 1412 is selectivelyrotatable about a right motor pivot point 1418 to enable both forwardflight (as shown), and vertical flight through rotation of the rightpropulsion motor drive 1412 to a vertical position about the right motorpivot point 1418. The pivoting may be accomplished by the forwardstarboard/right motor drive 1332 that is coupled to the right motor1412, with the forward starboard/right motor drive 1332 positionedeither in the right motor boom 1466 or in the right propulsion motor1412, itself.

The illustrations and examples provided herein are for explanatorypurposes and are not intended to limit the scope of the appended claims.This disclosure is to be considered an exemplification of the principlesof the invention and is not intended to limit the spirit and scope ofthe invention and/or claims of the embodiment illustrated. For example,use of the phrase “substantially all” is used as understood by one ofordinary skill in the art and so may approach a value of approximately80%-100% of that amount compared. The phrase “substantially forward”,“substantially horizontal” and “substantially vertical” are used asunderstood by one of ordinary skill in the art, and so may approximate avalue of 0-20% “forward”, “horizontal” and “vertical”, with respect tothe local horizontal respectively. Similarly, the phrase “in-line with”is used as understood by one of ordinary skill in the art and so mayapproach approximately 0-30 degrees from the base angle measured.

It is contemplated that various combinations and/or sub-combinations ofthe specific features, systems, methods, and aspects of the aboveembodiments may be made and still fall within the scope of theinvention. Accordingly, it should be understood that various featuresand aspects of the disclosed embodiments may be combined with orsubstituted for one another in order to form varying modes of thedisclosed invention. Further it is intended that the scope of thepresent invention herein disclosed by way of examples should not belimited by the particular disclosed embodiments described above.

What is claimed is:
 1. A method, comprising: switching off all systemson an unmanned aerial vehicle (UAV) while the UAV is at an observationlocation except those necessary to generate and transmit observationdata via a power distributor, wherein the power distributor is incommunication with a processor of the UAV, and wherein the UAV retainsautonomous power-up capability; switching off power periodically from abattery of the UAV to an observation sensor via the power distributor toextend a stay at the observation location with a finite charge capacityof the battery; switching on power periodically from the battery of theUAV to the observation sensor via the power distributor; generatingobservation data from the observation location of one or more potentialtargets using an observation sensor of the UAV when power isperiodically switched on from the battery of the UAV to the observationsensor; and communicating the generated observation data of the one ormore potential targets to a transmitter for periodic transmission to areceiver external to the UAV.
 2. The method of claim 1, furthercomprising: securing the UAV to a surface at the observation location.3. The method of claim 2, wherein the UAV is secured to the surface viaan anchor.
 4. The method of claim 2, further comprising: transitioningthe UAV from an operating base to an observation location.
 5. The methodof claim 4, further comprising: detaching the UAV from the surface atthe observation location; and transitioning the UAV from the observationlocation to the operating base.
 6. The method of claim 1, wherein thepower is periodically switched on at regular intervals.
 7. The method ofclaim 1, further comprising: switching off power periodically from thebattery of the UAV to the transmitter via the power distributor toextend the stay at the observation location with the finite chargecapacity of the battery; and switching on power periodically from thebattery of the UAV to the transmitter via the power distributor.
 8. Themethod of claim 1, wherein the autonomous power-up capability isretained via at least one of: a timer and a light sensor.
 9. The methodof claim 1, wherein said observation sensor is a sensor selected fromthe group consisting of an optical camera, an infrared camera, amicrophone, a vibration sensor, a heat sensor and a radiation sensor.10. The method of claim 1, further comprising: restoring power to allsystems on the UAV necessary to deploy the UAV from the surface.
 11. Themethod of claim 1, further comprising: reducing power to at least one ofsaid observation sensor and said transmitter through said powerdistributor to reduce the UAV's overall power usage during UAVhorizontal flight.
 12. An unmanned aerial vehicle (UAV) apparatuscomprising: a processor having addressable memory, wherein the processoris in communication with a power distributor, the processor configuredto: switch off all systems on the UAV when the UAV is landed at anobservation location except those necessary to generate and transmitobservation data via the power distributor, wherein the UAV retainsautonomous power-up capability; switch off power periodically from abattery of the UAV to an observation sensor via the power distributor toextend a stay at the observation location with a finite charge capacityof the battery; switch on power periodically from the battery of the UAVto the observation sensor via the power distributor; generateobservation data from the observation location of one or more potentialtargets using an observation sensor of the UAV when power isperiodically switched on from the battery of the UAV to the observationsensor; and transmit said generated observation data of the one or morepotential targets to a transmitter for periodic transmission to areceiver external to the UAV.
 13. The UAV apparatus of claim 12, whereinthe UAV comprises a fixed and non-rotating wing to provide primary liftfor the UAV while in horizontal flight.
 14. The UAV apparatus of claim12, wherein the UAV comprises at least one electric motor providingprimary lift for the UAV during vertical flight. an observation sensor.15. The UAV apparatus of claim 12, wherein the transmitter is incommunication with the observation sensor, wherein the battery isconfigured to provide power to the UAV, and wherein the powerdistributor is configured to prolong a usage of the battery.
 16. The UAVapparatus of claim 12, wherein the observation sensor is at least oneof: a microphone, a vibration sensor, a heat sensor, a radiation sensor,a camera, an optical camera, and an infrared camera.
 17. The UAVapparatus of claim 12, wherein the processor is further configured to:reduce power, by the power distributor, to at least one of: saidobservation sensor and said transmitter during UAV horizontal flight.18. The apparatus of claim 12, wherein the processor is furtherconfigured to: restore power, by the power distributor, to all systemson said UAV necessary to deploy said UAV from said surface.
 19. Anunmanned aerial vehicle (UAV), comprising: a processor havingaddressable memory, the processor configured to: switch off all systemson the UAV at an observation location except those necessary to generateand transmit observation data via a power distributor, wherein the powerdistributor is in communication with the processor of the UAV, andwherein the UAV retains autonomous power-up capability; switch off powerperiodically from a battery of the UAV to an observation sensor via thepower distributor to extend a stay at the observation location with afinite charge capacity of the battery; switch on power periodically fromthe battery of the UAV to the observation sensor via the powerdistributor; generate observation data from the observation location ofone or more potential targets using an observation sensor of the UAVwhen power is periodically switched on from the battery of the UAV tothe observation sensor; and transmit said generated observation data ofthe one or more potential targets to a transmitter for periodictransmission to a receiver external to the UAV.
 20. The UAV of claim 19,wherein the processor is further configured to: transition the UAV froman operating base to the observation location; and transitioning the UAVfrom the observation location to the operating base.